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+ "primitive": "LM13",
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
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+  }
+ ]
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index 8000da589127cf4ddd7b65615714017dfd0d53c7..11ae2509596a090a35adb9d4dbaccfb3b7fbbbb8 100644
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+++ b/actions/locomanipulation/LM13/session_007/meta.json
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -511,10 +511,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+  "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
  }
 }
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+ "primitive": "LM13",
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
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+  }
+ ]
+}
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index 9e1df51f8b4faf21c22ec1178f577f99aa13b963..f96820db2757244dfd43f709758ec022b2bb5a87 100644
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   "family": "locomanipulation",
   "primitive": "LM13",
   "source_session": "20260919/LM13/20260919_055319_session87"
+ },
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+  "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
  }
 }
diff --git a/actions/locomanipulation/LM13/session_008/motions/hands_mano.npz b/actions/locomanipulation/LM13/session_008/motions/hands_mano.npz
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+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "LM13",
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
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+  }
+ ]
+}
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  }
 }
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@@ -507,10 +507,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+  "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
  }
 }
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+}
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+  "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
  }
 }
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+  }
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+}
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index 00dc56802b1bcfb4ce074d839f5880600a54f1ed..1a013a7eab3845350013a7a2b60b03c1e2603571 100644
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-   "observed": false,
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@@ -511,10 +511,124 @@
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   "source_session": "20260920/LM13/20260920_005627_session5"
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+  "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
  }
 }
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+  }
+ ]
+}
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@@ -524,5 +524,9 @@
   "family": "locomanipulation",
   "primitive": "LM13",
   "source_session": "20260920/LM13/20260920_090103_session95"
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  }
 }
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+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
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+  }
+ ]
+}
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@@ -522,5 +522,9 @@
   "family": "locomanipulation",
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+  "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
  }
 }
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+ "primitive": "LM13",
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
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+  }
+ ]
+}
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@@ -522,5 +522,9 @@
   "family": "locomanipulation",
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+  "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
  }
 }
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+ "primitive": "LM13",
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
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+  }
+ ]
+}
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@@ -513,10 +513,124 @@
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+      "wrist_pos_err_mm_median": 50.4
+     }
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+     "interpolated": 122,
+     "mean_hand": 5,
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.71
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 4.9
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+      "median": 3.4,
+      "p90": 4.3
+     }
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:48:36.687523+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM13/session_016",
   "family": "locomanipulation",
   "primitive": "LM13",
   "source_session": "20260921/LM13/20260921_091022_session164"
+ },
+ "task": {
+  "primitive": "LM13",
+  "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
  }
 }
diff --git a/actions/locomanipulation/LM13/session_016/motions/hands_mano.npz b/actions/locomanipulation/LM13/session_016/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f219e90c6b3581df367e5a40c76cd87ab9fd2359
--- /dev/null
+++ b/actions/locomanipulation/LM13/session_016/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:142d76084204d7ac761fd872ee92a00a2124744ffdecee4ce16aab01713e8fd8
+size 5321996
diff --git a/actions/locomanipulation/LM13/session_016/motions/smplx.npz b/actions/locomanipulation/LM13/session_016/motions/smplx.npz
index 35c108ab7badca53d118992ac6b80cfa488d99a0..3eb03cf37f533c358b9898d07df8acaa0f901b67 100644
--- a/actions/locomanipulation/LM13/session_016/motions/smplx.npz
+++ b/actions/locomanipulation/LM13/session_016/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:1bab1c387b01f3e438f45492982b5bda7613b66004e755c54e26934f625d6970
-size 6199210
+oid sha256:032b5095e17771040a8ddea1cce0212dc0c850a9b2608f757c5fd19d002e9426
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diff --git a/actions/locomanipulation/LM13/session_017/annotations.json b/actions/locomanipulation/LM13/session_017/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd0a8306f8c4cb9e049edf4b9aa997826c0e46ec
--- /dev/null
+++ b/actions/locomanipulation/LM13/session_017/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM13",
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 148.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03889209751499667
+  }
+ ],
+ "episodes": [
+  {
+   "id": "9aa26ce1-d741-4dc8-92e1-6bbd5bb22c69",
+   "segment": "segment1",
+   "action": "LM13",
+   "quality": "valid",
+   "start_s": 0.783,
+   "end_s": 142.037,
+   "t_start": 0.8219,
+   "t_end": 142.0759,
+   "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
+  }
+ ]
+}
diff --git a/actions/locomanipulation/LM13/session_017/cameras/slam.npz b/actions/locomanipulation/LM13/session_017/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b1ac2380341065559916a202617280a52761973e
--- /dev/null
+++ b/actions/locomanipulation/LM13/session_017/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:329f7ff5dc60e84515e630ee5fda1cc99ea41672a3be018f8c28988c6dbd469f
+size 856238
diff --git a/actions/locomanipulation/LM13/session_017/meta.json b/actions/locomanipulation/LM13/session_017/meta.json
index 66162e3762cdeeace5ea7a3dbb2ba6813c95f73f..579bb2552673d412d2495f780bab6d3f728cc996 100644
--- a/actions/locomanipulation/LM13/session_017/meta.json
+++ b/actions/locomanipulation/LM13/session_017/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6142033567941199
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 14.1,
+    "offset_rotvec": [
+     0.1647,
+     0.1232,
+     -0.1353
+    ],
+    "dev_deg": {
+     "median": 3.51,
+     "p90": 7.54
+    },
+    "samples": 4384,
+    "accepted": 4296,
+    "wrist_pos_err_mm_median": 27.1,
+    "per_camera": {
+     "head": {
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+      "accepted": 4296,
+      "gate_deg": 30.0,
+      "offset_deg": 14.1,
+      "tier": "primary",
+      "dev_deg_median": 3.51,
+      "wrist_pos_err_mm_median": 27.1
+     }
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+     "interpolated": 242,
+     "mean_hand": 456,
+     "no_body_fit": 0
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+    "observed_fraction": 0.9745,
+    "observed_fraction_of_valid": 0.9745,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.2,
+     "smplx": 0.45
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.6,
+      "p90": 23.1
+     },
+     "registered": {
+      "median": 14.1,
+      "p90": 21.2
+     }
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+     0.1391,
+     -0.0622
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+     "p90": 13.77
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+    "samples": 4377,
+    "accepted": 4367,
+    "wrist_pos_err_mm_median": 44.0,
+    "per_camera": {
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+      "accepted": 4367,
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+      "offset_deg": 14.8,
+      "tier": "primary",
+      "dev_deg_median": 5.75,
+      "wrist_pos_err_mm_median": 44.0
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+     "interpolated": 188,
+     "mean_hand": 216,
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+    "observed_fraction_of_valid": 0.9879,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.73
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 4.3
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T22:48:37.212965+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM13/session_017",
   "family": "locomanipulation",
   "primitive": "LM13",
   "source_session": "20260921/LM13/20260921_091245_session165"
+ },
+ "task": {
+  "primitive": "LM13",
+  "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
  }
 }
diff --git a/actions/locomanipulation/LM13/session_017/motions/hands_mano.npz b/actions/locomanipulation/LM13/session_017/motions/hands_mano.npz
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